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<a href="centroid_8h.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_COMMON_CENTROID_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_COMMON_CENTROID_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/point_traits.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/PointIndices.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/cloud_iterator.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;{</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (ConstCloudIterator&lt;PointT&gt; &amp;cloud_iterator,</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                     Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (ConstCloudIterator&lt;PointT&gt; &amp;cloud_iterator,</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;                     Eigen::Vector4f &amp;centroid)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordflow">return</span> (compute3DCentroid &lt;PointT, float&gt; (cloud_iterator, centroid));</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  }</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (ConstCloudIterator&lt;PointT&gt; &amp;cloud_iterator,</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                     Eigen::Vector4d &amp;centroid)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordflow">return</span> (compute3DCentroid &lt;PointT, double&gt; (cloud_iterator, centroid));</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  }</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                     Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                     Eigen::Vector4f &amp;centroid)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  {</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordflow">return</span> (compute3DCentroid &lt;PointT, float&gt; (cloud, centroid));</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  }</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                     Eigen::Vector4d &amp;centroid)</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordflow">return</span> (compute3DCentroid &lt;PointT, double&gt; (cloud, centroid));</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;                     <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;                     Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                     <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                     Eigen::Vector4f &amp;centroid)</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  {</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordflow">return</span> (compute3DCentroid &lt;PointT, float&gt; (cloud, indices, centroid));</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;                     <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                     Eigen::Vector4d &amp;centroid)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  {</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keywordflow">return</span> (compute3DCentroid &lt;PointT, double&gt; (cloud, indices, centroid));</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  }</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                     <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices, </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                     Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                     <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices, </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                     Eigen::Vector4f &amp;centroid)</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordflow">return</span> (compute3DCentroid &lt;PointT, float&gt; (cloud, indices, centroid));</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                     <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices, </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;                     Eigen::Vector4d &amp;centroid)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  {</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordflow">return</span> (compute3DCentroid &lt;PointT, double&gt; (cloud, indices, centroid));</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  }</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">  184</a></span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                           <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                           Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;                           <span class="keyword">const</span> Eigen::Vector4f &amp;centroid,</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;                           Eigen::Matrix3f &amp;covariance_matrix)</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  {</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrix&lt;PointT, float&gt; (cloud, centroid, covariance_matrix));</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  }</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  computeCovarianceMatrix (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;                           <span class="keyword">const</span> Eigen::Vector4d &amp;centroid,</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;                           Eigen::Matrix3d &amp;covariance_matrix)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrix&lt;PointT, double&gt; (cloud, centroid, covariance_matrix));</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <a class="code" href="group__common.html#gab5ea605f439a80daf6348547379bad8e">computeCovarianceMatrixNormalized</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                                     <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;                                     Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <a class="code" href="group__common.html#gab5ea605f439a80daf6348547379bad8e">computeCovarianceMatrixNormalized</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;                                     <span class="keyword">const</span> Eigen::Vector4f &amp;centroid,</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;                                     Eigen::Matrix3f &amp;covariance_matrix)</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  {</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrixNormalized&lt;PointT, float&gt; (cloud, centroid, covariance_matrix));</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  }</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <a class="code" href="group__common.html#gab5ea605f439a80daf6348547379bad8e">computeCovarianceMatrixNormalized</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;                                     <span class="keyword">const</span> Eigen::Vector4d &amp;centroid,</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;                                     Eigen::Matrix3d &amp;covariance_matrix)</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  {</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrixNormalized&lt;PointT, double&gt; (cloud, centroid, covariance_matrix));</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  }</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;                           <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;                           <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;                           Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;                           <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;                           <span class="keyword">const</span> Eigen::Vector4f &amp;centroid,</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;                           Eigen::Matrix3f &amp;covariance_matrix)</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  {</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrix&lt;PointT, float&gt; (cloud, indices, centroid, covariance_matrix));</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                           <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;                           <span class="keyword">const</span> Eigen::Vector4d &amp;centroid,</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;                           Eigen::Matrix3d &amp;covariance_matrix)</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  {</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrix&lt;PointT, double&gt; (cloud, indices, centroid, covariance_matrix));</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  }</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                           <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;                           <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;                           Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix);</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                           <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                           <span class="keyword">const</span> Eigen::Vector4f &amp;centroid,</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;                           Eigen::Matrix3f &amp;covariance_matrix)</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  {</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrix&lt;PointT, float&gt; (cloud, indices, centroid, covariance_matrix));</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  }</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;                           <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;                           <span class="keyword">const</span> Eigen::Vector4d &amp;centroid,</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;                           Eigen::Matrix3d &amp;covariance_matrix)</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  {</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrix&lt;PointT, double&gt; (cloud, indices, centroid, covariance_matrix));</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  }</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  <a class="code" href="group__common.html#gab5ea605f439a80daf6348547379bad8e">computeCovarianceMatrixNormalized</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;                                     <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;                                     <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;                                     Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix);</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;  <a class="code" href="group__common.html#gab5ea605f439a80daf6348547379bad8e">computeCovarianceMatrixNormalized</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;                                     <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;                                     <span class="keyword">const</span> Eigen::Vector4f &amp;centroid,</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;                                     Eigen::Matrix3f &amp;covariance_matrix)</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  {</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrixNormalized&lt;PointT, float&gt; (cloud, indices, centroid, covariance_matrix));</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  }</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  <a class="code" href="group__common.html#gab5ea605f439a80daf6348547379bad8e">computeCovarianceMatrixNormalized</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;                                     <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;                                     <span class="keyword">const</span> Eigen::Vector4d &amp;centroid,</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;                                     Eigen::Matrix3d &amp;covariance_matrix)</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  {</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrixNormalized&lt;PointT, double&gt; (cloud, indices, centroid, covariance_matrix));</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  }</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160; </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;  <a class="code" href="group__common.html#gab5ea605f439a80daf6348547379bad8e">computeCovarianceMatrixNormalized</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;                                     <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;                                     <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;                                     Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160; </div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;  <a class="code" href="group__common.html#gab5ea605f439a80daf6348547379bad8e">computeCovarianceMatrixNormalized</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;                                     <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;                                     <span class="keyword">const</span> Eigen::Vector4f &amp;centroid,</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;                                     Eigen::Matrix3f &amp;covariance_matrix)</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  {</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrixNormalized&lt;PointT, float&gt; (cloud, indices, centroid, covariance_matrix));</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  }</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  <a class="code" href="group__common.html#gab5ea605f439a80daf6348547379bad8e">computeCovarianceMatrixNormalized</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;                                     <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;                                     <span class="keyword">const</span> Eigen::Vector4d &amp;centroid,</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;                                     Eigen::Matrix3d &amp;covariance_matrix)</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  {</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrixNormalized&lt;PointT, double&gt; (cloud, indices, centroid, covariance_matrix));</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  }</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;  <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;                                  Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix,</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;                                  Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid);</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160; </div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;  <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;                                  Eigen::Matrix3f &amp;covariance_matrix,</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;                                  Eigen::Vector4f &amp;centroid)</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  {</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    <span class="keywordflow">return</span> (computeMeanAndCovarianceMatrix&lt;PointT, float&gt; (cloud, covariance_matrix, centroid));</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;  }</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160; </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;  <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;                                  Eigen::Matrix3d &amp;covariance_matrix,</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;                                  Eigen::Vector4d &amp;centroid)</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  {</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    <span class="keywordflow">return</span> (computeMeanAndCovarianceMatrix&lt;PointT, double&gt; (cloud, covariance_matrix, centroid));</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  }</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160; </div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;                                  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;                                  Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix,</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;                                  Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid);</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;  <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;                                  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;                                  Eigen::Matrix3f &amp;covariance_matrix,</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;                                  Eigen::Vector4f &amp;centroid)</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;  {</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;    <span class="keywordflow">return</span> (computeMeanAndCovarianceMatrix&lt;PointT, float&gt; (cloud, indices, covariance_matrix, centroid));</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  }</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;  <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;                                  <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;                                  Eigen::Matrix3d &amp;covariance_matrix,</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;                                  Eigen::Vector4d &amp;centroid)</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;  {</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;    <span class="keywordflow">return</span> (computeMeanAndCovarianceMatrix&lt;PointT, double&gt; (cloud, indices, covariance_matrix, centroid));</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;  }</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160; </div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;  <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;                                  Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix,</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;                                  Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid);</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160; </div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;  <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;                                  Eigen::Matrix3f &amp;covariance_matrix,</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;                                  Eigen::Vector4f &amp;centroid)</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;  {</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;    <span class="keywordflow">return</span> (computeMeanAndCovarianceMatrix&lt;PointT, float&gt; (cloud, indices, covariance_matrix, centroid));</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;  }</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160; </div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;  <a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;                                  Eigen::Matrix3d &amp;covariance_matrix,</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;                                  Eigen::Vector4d &amp;centroid)</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;  {</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;    <span class="keywordflow">return</span> (computeMeanAndCovarianceMatrix&lt;PointT, double&gt; (cloud, indices, covariance_matrix, centroid));</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;  }</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160; </div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;                           Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix);</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160; </div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;                           Eigen::Matrix3f &amp;covariance_matrix)</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;  {</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrix&lt;PointT, float&gt; (cloud, covariance_matrix));</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;  }</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160; </div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;                           Eigen::Matrix3d &amp;covariance_matrix)</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;  {</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrix&lt;PointT, double&gt; (cloud, covariance_matrix));</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;  }</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160; </div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;                           <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;                           Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix);</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160; </div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;                           <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;                           Eigen::Matrix3f &amp;covariance_matrix)</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;  {</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrix&lt;PointT, float&gt; (cloud, indices, covariance_matrix));</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;  }</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160; </div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;                           <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;                           Eigen::Matrix3d &amp;covariance_matrix)</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;  {</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrix&lt;PointT, double&gt; (cloud, indices, covariance_matrix));</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;  }</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160; </div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;                           <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;                           Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix);</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160; </div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;                           <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;                           Eigen::Matrix3f &amp;covariance_matrix)</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;  {</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrix&lt;PointT, float&gt; (cloud, indices, covariance_matrix));</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;  }</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160; </div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;  <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;                           <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;                           Eigen::Matrix3d &amp;covariance_matrix)</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;  {</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;    <span class="keywordflow">return</span> (computeCovarianceMatrix&lt;PointT, double&gt; (cloud, indices, covariance_matrix));</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;  }</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160; </div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (ConstCloudIterator&lt;PointT&gt; &amp;cloud_iterator,</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;                    <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out,</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;                    <span class="keywordtype">int</span> npts = 0);</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160; </div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (ConstCloudIterator&lt;PointT&gt; &amp;cloud_iterator,</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4f &amp;centroid,</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out,</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;                    <span class="keywordtype">int</span> npts = 0)</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;  {</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;    <span class="keywordflow">return</span> (demeanPointCloud&lt;PointT, float&gt; (cloud_iterator, centroid, cloud_out, npts));</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;  }</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160; </div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (ConstCloudIterator&lt;PointT&gt; &amp;cloud_iterator,</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4d &amp;centroid,</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out,</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;                    <span class="keywordtype">int</span> npts = 0)</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;  {</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;    <span class="keywordflow">return</span> (demeanPointCloud&lt;PointT, double&gt; (cloud_iterator, centroid, cloud_out, npts));</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;  }</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160; </div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;                    <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out);</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160; </div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (ConstCloudIterator&lt;PointT&gt; &amp;cloud_iterator,</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4f &amp;centroid,</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;  {</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;    <span class="keywordflow">return</span> (demeanPointCloud&lt;PointT, float&gt; (cloud_iterator, centroid, cloud_out));</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;  }</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160; </div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (ConstCloudIterator&lt;PointT&gt; &amp;cloud_iterator,</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4d &amp;centroid,</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;  {</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;    <span class="keywordflow">return</span> (demeanPointCloud&lt;PointT, double&gt; (cloud_iterator, centroid, cloud_out));</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;  }</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160; </div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;                    <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;                    <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out);</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160; </div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;                    <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4f &amp;centroid,</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;  {</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;    <span class="keywordflow">return</span> (demeanPointCloud&lt;PointT, float&gt; (cloud_in, indices, centroid, cloud_out));</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;  }</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160; </div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;                    <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4d &amp;centroid,</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;  {</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;    <span class="keywordflow">return</span> (demeanPointCloud&lt;PointT, double&gt; (cloud_in, indices, centroid, cloud_out));</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;  }</div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160; </div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;                    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a>&amp; indices,</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;                    <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out);</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160; </div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;                    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a>&amp; indices,</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4f &amp;centroid,</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;  {</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;    <span class="keywordflow">return</span> (demeanPointCloud&lt;PointT, float&gt; (cloud_in, indices, centroid, cloud_out));</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;  }</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160; </div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;                    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a>&amp; indices,</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4d &amp;centroid,</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;  {</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;    <span class="keywordflow">return</span> (demeanPointCloud&lt;PointT, double&gt; (cloud_in, indices, centroid, cloud_out));</div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;  }</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160; </div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (ConstCloudIterator&lt;PointT&gt; &amp;cloud_iterator,</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;                    <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;                    Eigen::Matrix&lt;Scalar, Eigen::Dynamic, Eigen::Dynamic&gt; &amp;cloud_out,</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;                    <span class="keywordtype">int</span> npts = 0);</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160; </div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (ConstCloudIterator&lt;PointT&gt; &amp;cloud_iterator,</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4f &amp;centroid,</div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;                    Eigen::MatrixXf &amp;cloud_out,</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;                    <span class="keywordtype">int</span> npts = 0)</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;  {</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;    <span class="keywordflow">return</span> (demeanPointCloud&lt;PointT, float&gt; (cloud_iterator, centroid, cloud_out, npts));</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;  }</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160; </div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (ConstCloudIterator&lt;PointT&gt; &amp;cloud_iterator,</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4d &amp;centroid,</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;                    Eigen::MatrixXd &amp;cloud_out,</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;                    <span class="keywordtype">int</span> npts = 0)</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;  {</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;    <span class="keywordflow">return</span> (demeanPointCloud&lt;PointT, double&gt; (cloud_iterator, centroid, cloud_out, npts));</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;  }</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160; </div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;                    <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;                    Eigen::Matrix&lt;Scalar, Eigen::Dynamic, Eigen::Dynamic&gt; &amp;cloud_out);</div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160; </div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4f &amp;centroid,</div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;                    Eigen::MatrixXf &amp;cloud_out)</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;  {</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;    <span class="keywordflow">return</span> (demeanPointCloud&lt;PointT, float&gt; (cloud_in, centroid, cloud_out));</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;  }</div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160; </div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4d &amp;centroid,</div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;                    Eigen::MatrixXd &amp;cloud_out)</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;  {</div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;    <span class="keywordflow">return</span> (demeanPointCloud&lt;PointT, double&gt; (cloud_in, centroid, cloud_out));</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;  }</div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160; </div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;                    <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;                    <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;                    Eigen::Matrix&lt;Scalar, Eigen::Dynamic, Eigen::Dynamic&gt; &amp;cloud_out);</div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160; </div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;                    <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4f &amp;centroid,</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;                    Eigen::MatrixXf &amp;cloud_out)</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;  {</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;    <span class="keywordflow">return</span> (demeanPointCloud&lt;PointT, float&gt; (cloud_in, indices, centroid, cloud_out));</div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;  }</div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160; </div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;                    <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4d &amp;centroid,</div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;                    Eigen::MatrixXd &amp;cloud_out)</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;  {</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;    <span class="keywordflow">return</span> (demeanPointCloud&lt;PointT, double&gt; (cloud_in, indices, centroid, cloud_out));</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;  }</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160; </div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;                    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a>&amp; indices,</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;                    <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;                    Eigen::Matrix&lt;Scalar, Eigen::Dynamic, Eigen::Dynamic&gt; &amp;cloud_out);</div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160; </div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;                    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a>&amp; indices,</div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4f &amp;centroid,</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;                    Eigen::MatrixXf &amp;cloud_out)</div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;  {</div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;    <span class="keywordflow">return</span> (demeanPointCloud&lt;PointT, float&gt; (cloud_in, indices, centroid, cloud_out));</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;  }</div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160; </div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;  <a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;                    <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a>&amp; indices,</div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;                    <span class="keyword">const</span> Eigen::Vector4d &amp;centroid,</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;                    Eigen::MatrixXd &amp;cloud_out)</div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;  {</div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;    <span class="keywordflow">return</span> (demeanPointCloud&lt;PointT, double&gt; (cloud_in, indices, centroid, cloud_out));</div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;  }</div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160; </div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt;</div>
<div class="line"><a name="l00841"></a><span class="lineno"><a class="line" href="structpcl_1_1_nd_centroid_functor.html">  841</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structpcl_1_1_nd_centroid_functor.html">NdCentroidFunctor</a></div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;  {</div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">traits::POD&lt;PointT&gt;::type</a> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a>;</div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160; </div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;    <a class="code" href="structpcl_1_1_nd_centroid_functor.html">NdCentroidFunctor</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p, Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; &amp;centroid)</div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;      : f_idx_ (0),</div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;        centroid_ (centroid),</div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;        p_ (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a>&amp;<span class="keyword">&gt;</span>(p)) { }</div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160; </div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Key&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> operator() ()</div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;    {</div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1datatype.html">pcl::traits::datatype&lt;PointT, Key&gt;::type</a> T;</div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;      <span class="keyword">const</span> uint8_t* raw_ptr = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>uint8_t*<span class="keyword">&gt;</span>(&amp;p_) + <a class="code" href="structpcl_1_1traits_1_1offset.html">pcl::traits::offset&lt;PointT, Key&gt;::value</a>;</div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;      <span class="keyword">const</span> T* data_ptr = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>T*<span class="keyword">&gt;</span>(raw_ptr);</div>
<div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160; </div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;      <span class="comment">// Check if the value is invalid</span></div>
<div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (*data_ptr))</div>
<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;      {</div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;        f_idx_++;</div>
<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;        <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;      }</div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160; </div>
<div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160;      centroid_[f_idx_++] += *data_ptr;</div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;    }</div>
<div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160; </div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160;      <span class="keywordtype">int</span> f_idx_;</div>
<div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;      Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; &amp;centroid_;</div>
<div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a> &amp;p_;</div>
<div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160;  };</div>
<div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160; </div>
<div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;  <a class="code" href="group__common.html#ga4d047d6f7b50a2d81306cc59ac927179">computeNDCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;                     Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; &amp;centroid);</div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160; </div>
<div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;  <a class="code" href="group__common.html#ga4d047d6f7b50a2d81306cc59ac927179">computeNDCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;                     Eigen::VectorXf &amp;centroid)</div>
<div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;  {</div>
<div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;    <span class="keywordflow">return</span> (computeNDCentroid&lt;PointT, float&gt; (cloud, centroid));</div>
<div class="line"><a name="l00887"></a><span class="lineno">  887</span>&#160;  }</div>
<div class="line"><a name="l00888"></a><span class="lineno">  888</span>&#160; </div>
<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;  computeNDCentroid (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;                     Eigen::VectorXd &amp;centroid)</div>
<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;  {</div>
<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;    <span class="keywordflow">return</span> (computeNDCentroid&lt;PointT, double&gt; (cloud, centroid));</div>
<div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;  }</div>
<div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160; </div>
<div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160;  <a class="code" href="group__common.html#ga4d047d6f7b50a2d81306cc59ac927179">computeNDCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160;                     <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;                     Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; &amp;centroid);</div>
<div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160; </div>
<div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;  <a class="code" href="group__common.html#ga4d047d6f7b50a2d81306cc59ac927179">computeNDCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160;                     <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;                     Eigen::VectorXf &amp;centroid)</div>
<div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160;  {</div>
<div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;    <span class="keywordflow">return</span> (computeNDCentroid&lt;PointT, float&gt; (cloud, indices, centroid));</div>
<div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160;  }</div>
<div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160; </div>
<div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160;  <a class="code" href="group__common.html#ga4d047d6f7b50a2d81306cc59ac927179">computeNDCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160;                     <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, </div>
<div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;                     Eigen::VectorXd &amp;centroid)</div>
<div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160;  {</div>
<div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;    <span class="keywordflow">return</span> (computeNDCentroid&lt;PointT, double&gt; (cloud, indices, centroid));</div>
<div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;  }</div>
<div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160; </div>
<div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00932"></a><span class="lineno">  932</span>&#160;  <a class="code" href="group__common.html#ga4d047d6f7b50a2d81306cc59ac927179">computeNDCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;                     <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices, </div>
<div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160;                     Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; &amp;centroid);</div>
<div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160; </div>
<div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;  <a class="code" href="group__common.html#ga4d047d6f7b50a2d81306cc59ac927179">computeNDCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;                     <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices, </div>
<div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160;                     Eigen::VectorXf &amp;centroid)</div>
<div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160;  {</div>
<div class="line"><a name="l00941"></a><span class="lineno">  941</span>&#160;    <span class="keywordflow">return</span> (computeNDCentroid&lt;PointT, float&gt; (cloud, indices, centroid));</div>
<div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;  }</div>
<div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160; </div>
<div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;  <a class="code" href="group__common.html#ga4d047d6f7b50a2d81306cc59ac927179">computeNDCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160;                     <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices, </div>
<div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160;                     Eigen::VectorXd &amp;centroid)</div>
<div class="line"><a name="l00948"></a><span class="lineno">  948</span>&#160;  {</div>
<div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;    <span class="keywordflow">return</span> (computeNDCentroid&lt;PointT, double&gt; (cloud, indices, centroid));</div>
<div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160;  }</div>
<div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160; </div>
<div class="line"><a name="l00952"></a><span class="lineno">  952</span>&#160;}</div>
<div class="line"><a name="l00953"></a><span class="lineno">  953</span>&#160; </div>
<div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;<span class="preprocessor">#include &lt;pcl/common/impl/accumulators.hpp&gt;</span></div>
<div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160; </div>
<div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160;{</div>
<div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160; </div>
<div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l01037"></a><span class="lineno"><a class="line" href="classpcl_1_1_centroid_point.html"> 1037</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_centroid_point.html">CentroidPoint</a></div>
<div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>&#160;  {</div>
<div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160; </div>
<div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160; </div>
<div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160;      <a class="code" href="classpcl_1_1_centroid_point.html">CentroidPoint</a> ()</div>
<div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160;      : num_points_ (0)</div>
<div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>&#160;      {</div>
<div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>&#160;      }</div>
<div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>&#160; </div>
<div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l01052"></a><span class="lineno"><a class="line" href="classpcl_1_1_centroid_point.html#ae08dddd3a573a202f39c756dc398a436"> 1052</a></span>&#160;      <a class="code" href="classpcl_1_1_centroid_point.html#ae08dddd3a573a202f39c756dc398a436">add</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point)</div>
<div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160;      {</div>
<div class="line"><a name="l01054"></a><span class="lineno"> 1054</span>&#160;        <span class="comment">// Invoke add point on each accumulator</span></div>
<div class="line"><a name="l01055"></a><span class="lineno"> 1055</span>&#160;        boost::fusion::for_each (accumulators_, <a class="code" href="structpcl_1_1detail_1_1_add_point.html">detail::AddPoint&lt;PointT&gt;</a> (point));</div>
<div class="line"><a name="l01056"></a><span class="lineno"> 1056</span>&#160;        ++num_points_;</div>
<div class="line"><a name="l01057"></a><span class="lineno"> 1057</span>&#160;      }</div>
<div class="line"><a name="l01058"></a><span class="lineno"> 1058</span>&#160; </div>
<div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160;      <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01069"></a><span class="lineno"><a class="line" href="classpcl_1_1_centroid_point.html#a9193814a144725d08ea3a0c01ac54fda"> 1069</a></span>&#160;      <a class="code" href="classpcl_1_1_centroid_point.html#a9193814a144725d08ea3a0c01ac54fda">get</a> (PointOutT&amp; point)<span class="keyword"> const</span></div>
<div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l01071"></a><span class="lineno"> 1071</span>&#160;        <span class="keywordflow">if</span> (num_points_ != 0)</div>
<div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>&#160;        {</div>
<div class="line"><a name="l01073"></a><span class="lineno"> 1073</span>&#160;          <span class="comment">// Filter accumulators so that only those that are compatible with</span></div>
<div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>&#160;          <span class="comment">// both PointT and requested point type remain</span></div>
<div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>&#160;          <span class="keyword">typename</span> pcl::detail::Accumulators&lt;PointT, PointOutT&gt;::type ca (accumulators_);</div>
<div class="line"><a name="l01076"></a><span class="lineno"> 1076</span>&#160;          <span class="comment">// Invoke get point on each accumulator in filtered list</span></div>
<div class="line"><a name="l01077"></a><span class="lineno"> 1077</span>&#160;          boost::fusion::for_each (ca, <a class="code" href="structpcl_1_1detail_1_1_get_point.html">detail::GetPoint&lt;PointOutT&gt;</a> (point, num_points_));</div>
<div class="line"><a name="l01078"></a><span class="lineno"> 1078</span>&#160;        }</div>
<div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>&#160;      }</div>
<div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>&#160; </div>
<div class="line"><a name="l01082"></a><span class="lineno"> 1082</span>&#160;      <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l01083"></a><span class="lineno"><a class="line" href="classpcl_1_1_centroid_point.html#a40e36e9abcd63c2ae45157e8fe641189"> 1083</a></span>&#160;      <a class="code" href="classpcl_1_1_centroid_point.html#a40e36e9abcd63c2ae45157e8fe641189">getSize</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160;        <span class="keywordflow">return</span> (num_points_);</div>
<div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160;      }</div>
<div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>&#160; </div>
<div class="line"><a name="l01088"></a><span class="lineno"> 1088</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>&#160; </div>
<div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l01091"></a><span class="lineno"> 1091</span>&#160; </div>
<div class="line"><a name="l01092"></a><span class="lineno"> 1092</span>&#160;      <span class="keywordtype">size_t</span> num_points_;</div>
<div class="line"><a name="l01093"></a><span class="lineno"> 1093</span>&#160;      <span class="keyword">typename</span> pcl::detail::Accumulators&lt;PointT&gt;::type accumulators_;</div>
<div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>&#160; </div>
<div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>&#160;  };</div>
<div class="line"><a name="l01096"></a><span class="lineno"> 1096</span>&#160; </div>
<div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>&#160;  <a class="code" href="group__common.html#ga02e71a096abe1156be18c6322c0728c0">computeCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>&amp; cloud,</div>
<div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>&#160;                   PointOutT&amp; centroid);</div>
<div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>&#160; </div>
<div class="line"><a name="l01125"></a><span class="lineno"> 1125</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l01126"></a><span class="lineno"> 1126</span>&#160;  <a class="code" href="group__common.html#ga02e71a096abe1156be18c6322c0728c0">computeCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>&amp; cloud,</div>
<div class="line"><a name="l01127"></a><span class="lineno"> 1127</span>&#160;                   <span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices,</div>
<div class="line"><a name="l01128"></a><span class="lineno"> 1128</span>&#160;                   PointOutT&amp; centroid);</div>
<div class="line"><a name="l01129"></a><span class="lineno"> 1129</span>&#160; </div>
<div class="line"><a name="l01130"></a><span class="lineno"> 1130</span>&#160;}</div>
<div class="line"><a name="l01132"></a><span class="lineno"> 1132</span>&#160;<span class="preprocessor">#include &lt;pcl/common/impl/centroid.hpp&gt;</span></div>
<div class="line"><a name="l01133"></a><span class="lineno"> 1133</span>&#160; </div>
<div class="line"><a name="l01134"></a><span class="lineno"> 1134</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_COMMON_CENTROID_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_centroid_point_html"><div class="ttname"><a href="classpcl_1_1_centroid_point.html">pcl::CentroidPoint</a></div><div class="ttdef"><b>Definition:</b> centroid.h:1038</div></div>
<div class="ttc" id="aclasspcl_1_1_centroid_point_html_a40e36e9abcd63c2ae45157e8fe641189"><div class="ttname"><a href="classpcl_1_1_centroid_point.html#a40e36e9abcd63c2ae45157e8fe641189">pcl::CentroidPoint::getSize</a></div><div class="ttdeci">size_t getSize() const</div><div class="ttdef"><b>Definition:</b> centroid.h:1083</div></div>
<div class="ttc" id="aclasspcl_1_1_centroid_point_html_a9193814a144725d08ea3a0c01ac54fda"><div class="ttname"><a href="classpcl_1_1_centroid_point.html#a9193814a144725d08ea3a0c01ac54fda">pcl::CentroidPoint::get</a></div><div class="ttdeci">void get(PointOutT &amp;point) const</div><div class="ttdef"><b>Definition:</b> centroid.h:1069</div></div>
<div class="ttc" id="aclasspcl_1_1_centroid_point_html_ae08dddd3a573a202f39c756dc398a436"><div class="ttname"><a href="classpcl_1_1_centroid_point.html#ae08dddd3a573a202f39c756dc398a436">pcl::CentroidPoint::add</a></div><div class="ttdeci">void add(const PointT &amp;point)</div><div class="ttdef"><b>Definition:</b> centroid.h:1052</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="agroup__common_html_ga02e71a096abe1156be18c6322c0728c0"><div class="ttname"><a href="group__common.html#ga02e71a096abe1156be18c6322c0728c0">pcl::computeCentroid</a></div><div class="ttdeci">size_t computeCentroid(const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;indices, PointOutT &amp;centroid)</div><div class="ttdef"><b>Definition:</b> centroid.hpp:882</div></div>
<div class="ttc" id="agroup__common_html_ga4d047d6f7b50a2d81306cc59ac927179"><div class="ttname"><a href="group__common.html#ga4d047d6f7b50a2d81306cc59ac927179">pcl::computeNDCentroid</a></div><div class="ttdeci">void computeNDCentroid(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1 &gt; &amp;centroid)</div><div class="ttdoc">General, all purpose nD centroid estimation for a set of points using their indices.</div><div class="ttdef"><b>Definition:</b> centroid.hpp:809</div></div>
<div class="ttc" id="agroup__common_html_ga72dfb6e965df9752c88790e026a8ab5f"><div class="ttname"><a href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">pcl::computeMeanAndCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeMeanAndCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single lo...</div><div class="ttdef"><b>Definition:</b> centroid.hpp:489</div></div>
<div class="ttc" id="agroup__common_html_ga7f82fbd4e17063ab86287a2543bdea88"><div class="ttname"><a href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a></div><div class="ttdeci">void demeanPointCloud(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, int npts=0)</div><div class="ttdoc">Subtract a centroid from a point cloud and return the de-meaned representation</div><div class="ttdef"><b>Definition:</b> centroid.hpp:631</div></div>
<div class="ttc" id="agroup__common_html_gab5ea605f439a80daf6348547379bad8e"><div class="ttname"><a href="group__common.html#gab5ea605f439a80daf6348547379bad8e">pcl::computeCovarianceMatrixNormalized</a></div><div class="ttdeci">unsigned int computeCovarianceMatrixNormalized(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix)</div><div class="ttdoc">Compute normalized the 3x3 covariance matrix of a given set of points. The result is returned as a Ei...</div><div class="ttdef"><b>Definition:</b> centroid.hpp:251</div></div>
<div class="ttc" id="agroup__common_html_gac36b146ec26b1ceb7be43a9ecaa010c4"><div class="ttname"><a href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">pcl::computeCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix)</div><div class="ttdoc">Compute the 3x3 covariance matrix of a given set of points. The result is returned as a Eigen::Matrix...</div></div>
<div class="ttc" id="agroup__common_html_gaf5729fae15603888b49743b118025290"><div class="ttname"><a href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a></div><div class="ttdeci">unsigned int compute3DCentroid(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the 3D (X-Y-Z) centroid of a set of points and return it as a 3D vector.</div><div class="ttdef"><b>Definition:</b> centroid.hpp:50</div></div>
<div class="ttc" id="astructpcl_1_1_nd_centroid_functor_html"><div class="ttname"><a href="structpcl_1_1_nd_centroid_functor.html">pcl::NdCentroidFunctor</a></div><div class="ttdoc">Helper functor structure for n-D centroid estimation.</div><div class="ttdef"><b>Definition:</b> centroid.h:842</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1detail_1_1_add_point_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_add_point.html">pcl::detail::AddPoint</a></div><div class="ttdef"><b>Definition:</b> accumulators.hpp:263</div></div>
<div class="ttc" id="astructpcl_1_1detail_1_1_get_point_html"><div class="ttname"><a href="structpcl_1_1detail_1_1_get_point.html">pcl::detail::GetPoint</a></div><div class="ttdef"><b>Definition:</b> accumulators.hpp:282</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1datatype_html"><div class="ttname"><a href="structpcl_1_1traits_1_1datatype.html">pcl::traits::datatype</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:163</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1offset_html"><div class="ttname"><a href="structpcl_1_1traits_1_1offset.html">pcl::traits::offset</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:151</div></div>
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